제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Characteristics of optimal solutions in kinematic resolutions of redundancy

  • Park, Jonghoon (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology) ;
  • Chung, W.K. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology) ;
  • Youm, Y. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology)
  • Published : 1993.10.01
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Abstract

The inverse kinematic solutions for redundant manipulators using the optimality augmented resolution schemes have been used without investigating the characteristics of the optimal solutions. The questions with this kind of resolution methods are answered in this paper, that is (i) the characteristics of solutions, (ii) of algorithmic singularities, (iii) their dimensionality, and (iv) the invariance of the characteristics during resolutions. 3-DOF planar redundant robot is analyzed when the inverse kinematic method is applied with the manipulability as an example.

Keywords